00001 /* 00002 * Copyright 2017 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #include "cartographer/sensor/imu_data.h" 00018 00019 #include "cartographer/transform/transform.h" 00020 00021 namespace cartographer { 00022 namespace sensor { 00023 00024 proto::ImuData ToProto(const ImuData& imu_data) { 00025 proto::ImuData proto; 00026 proto.set_timestamp(common::ToUniversal(imu_data.time)); 00027 *proto.mutable_linear_acceleration() = 00028 transform::ToProto(imu_data.linear_acceleration); 00029 *proto.mutable_angular_velocity() = 00030 transform::ToProto(imu_data.angular_velocity); 00031 return proto; 00032 } 00033 00034 ImuData FromProto(const proto::ImuData& proto) { 00035 return ImuData{common::FromUniversal(proto.timestamp()), 00036 transform::ToEigen(proto.linear_acceleration()), 00037 transform::ToEigen(proto.angular_velocity())}; 00038 } 00039 00040 } // namespace sensor 00041 } // namespace cartographer